CN105072986A - Driving assistance device, driving assistance method, information-providing device, information-providing method, navigation device and navigation method - Google Patents

Driving assistance device, driving assistance method, information-providing device, information-providing method, navigation device and navigation method Download PDF

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Publication number
CN105072986A
CN105072986A CN201380074925.4A CN201380074925A CN105072986A CN 105072986 A CN105072986 A CN 105072986A CN 201380074925 A CN201380074925 A CN 201380074925A CN 105072986 A CN105072986 A CN 105072986A
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China
Prior art keywords
driver
bio information
state
vehicle
concentration degree
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CN201380074925.4A
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CN105072986B (en
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饭冢尚司
梶洋隆
菊池弘一
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Toyota Motor Corp
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Toyota Motor Corp
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
    • A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/11—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for measuring interpupillary distance or diameter of pupils
    • A61B3/112—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for measuring interpupillary distance or diameter of pupils for measuring diameter of pupils
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • A61B5/0245—Detecting, measuring or recording pulse rate or heart rate by using sensing means generating electric signals, i.e. ECG signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/369—Electroencephalography [EEG]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7271—Specific aspects of physiological measurement analysis
    • A61B5/7275—Determining trends in physiological measurement data; Predicting development of a medical condition based on physiological measurements, e.g. determining a risk factor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7271—Specific aspects of physiological measurement analysis
    • A61B5/7278—Artificial waveform generation or derivation, e.g. synthesising signals from measured signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0872—Driver physiology
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

Abstract

The invention discloses a driving assistance device, a driving assistance method, an information-providing device, an information-providing method, a navigation device and a navigation method. A heart rate sensor acquires the driver's heart rate. A degree of concentration-calculating unit estimates the driver's degree of concentration at a time after the heart rate acquisition by the heart rate sensor on the basis of the heart rate acquired by the heart rate sensor. A condition-assessing unit controls vehicle driving assistance on the basis of comparing the driver's degree of concentration estimated by the degree of concentration-calculating unit and the target value for the driver's degree of concentration established according to the location or environment that the vehicle driven by the driver is predicted to travel.

Description

Drive supporting device, driving support method, information provider unit, information providing method, guider and air navigation aid
Technical field
One embodiment of the present invention relates to drive supporting device, driving support method, information provider unit, information providing method, guider and air navigation aid.
Background technology
In recent years, the reduction etc. that someone proposes the concentration degree of the driver to steering vehicle detects, and notifies the device of the reduction of concentration degree to driver.Such as, a kind of device is disclosed at patent documentation 1, this device is based on the bio information such as heart rate, breathing, nictation of the driver of vehicle and arrive the load that road applies driver before precalculated position, the sleepiness, fatigue etc. of the driver in the future till predicting precalculated position at vehicle.The device of patent documentation 1 reminds driver to note based on the sleepiness etc. of the driver of pre-position in advance.
Prior art document
Patent documentation 1: Japanese Unexamined Patent Publication 2003-61939 publication
Summary of the invention
The problem that invention will solve
But, in the above-described techniques, sometimes, even if when not necessarily needing to remind driver to note etc., driver also can be reminded to note.Thus, indisposed sense is brought to driver sometimes.
One embodiment of the present invention is considered the problems referred to above and completes, its object is to, providing a kind of can alleviate the drive supporting device of the indisposed sense of driver, driving support method, information provider unit, information providing method, guider and air navigation aid by the drive supporting of the travel conditions more meeting vehicle.
For the means of dealing with problems
One embodiment of the present invention is a kind of drive supporting device, possesses: bio information acquisition unit, and it obtains the bio information of driver; Driver status presumption unit, it estimates the state of the driver after bio information acquisition unit obtains the timing of bio information based on the bio information obtained by bio information acquisition unit; And control unit, its based on estimated by driver status state of driver that unit deduces and with the comparing of condition of state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment, control the drive supporting of vehicle.
According to this structure, bio information acquisition unit obtains the bio information of driver.Driver status presumption unit, based on the bio information obtained by bio information acquisition unit, estimates the state of the driver after bio information acquisition unit obtains the timing of bio information.Control unit based on estimated by driver status the state of driver that unit deduces and with the comparing of condition of state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment, control the drive supporting of vehicle.Thus, based on the state of the driver in the future obtained according to the actual bio information obtained and the comparison of the condition of the state of driver obtained with the position that future, vehicle will travel and/or environment, the control of current drive supporting is carried out.Thus, more can meet the drive supporting of the situation that driver travels under this position and/or environment, the probability making driver feel indisposed sense can be reduced.
In this situation, can be, estimating by driver status the state of driver that unit deduces does not meet with the degree of the condition of the state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment larger, then control unit more promotes drive supporting.
According to this structure, estimating by driver status the state of driver that unit deduces does not meet with the degree of the condition of the state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment larger, then control unit more promotes drive supporting.Thus, for the situation that driver travels under this position and/or environment, the state of driver is poorer, then more promote drive supporting.Thus, more can meet the state of driver and/or the drive supporting of the condition corresponding with position and environment, the probability making driver feel indisposed sense can be reduced.
In addition, control unit can, when being estimated the condition that the state of driver that unit deduces does not meet with the state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment by driver status, carry out controlling to make to start drive supporting.
According to this structure, control unit, when being estimated the condition that the state of driver that unit deduces does not meet with the state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment by driver status, carry out controlling to make to start drive supporting.Thus, for state and/or the condition corresponding with position and environment of driver, carry out drive supporting when needed, the probability making driver feel indisposed sense can be reduced.
In addition, the state of driver can be the concentration degree of driver.
According to this structure, the state of driver is the concentration degree of driver.Thus, based on the concentration degree of the driver in the future obtained according to the actual bio information obtained and the comparison of the condition of the concentration degree of driver obtained with the position that future, vehicle will travel and/or environment, the control of current drive supporting is carried out.Thus, more can meet the drive supporting of the concentration degree needed for situation that driver is travelled under this position and/or environment, the probability making driver feel indisposed sense can be reduced.
In addition, driver status presumption unit can estimate the concentration degree reduction tendency in time of driver based on the bio information obtained by bio information acquisition unit.
According to this structure, driver status presumption unit estimates the concentration degree reduction tendency in time of driver based on the bio information obtained by bio information acquisition unit.Thereby, it is possible to estimate the concentration degree of driver when vehicle reality travels under this position and/or environment more accurately, the drive supporting of the concentration degree of driver more can be met.
In this situation, driver status presumption unit can based on the bio information obtained by bio information acquisition unit, the concentration degree accumulation degree in time of presumption driver, promotes the concentration degree reduction tendency in time of driver thus.
According to this structure, driver status presumption unit is based on the bio information obtained by bio information acquisition unit, and the concentration degree accumulation degree in time of presumption driver, promotes the concentration degree reduction tendency in time of driver thus.Concentration degree accumulation degree is in time difficult to the impact of the deviation of the temporary transient concentration degree being subject to driver.Therefore, by presumption concentration degree accumulation degree in time, can have nothing to do with the deviation of the temporary transient concentration degree of driver and the concentration degree reduction in time that estimates driver is more accurately inclined to.
In this situation, driver status presumption unit can based on the bio information obtained by bio information acquisition unit, presumption until the concentration degree accumulation degree in time of driver saturated time, based on until the concentration degree reduction in time that estimates driver of accumulation degree saturated time is inclined to.
According to this structure, driver status presumption unit is based on the bio information obtained by bio information acquisition unit, presumption until the concentration degree accumulation degree in time of driver saturated time, based on until the concentration degree reduction in time that estimates driver of accumulation degree saturated time is inclined to.Until the concentration degree of driver accumulation degree in time saturated time is difficult to the impact of the deviation of the temporary transient concentration degree being subject to driver.Therefore, by presumption until the concentration degree accumulation degree in time of driver saturated time, can have nothing to do with the deviation of the temporary transient concentration degree of driver and the concentration degree reduction in time that estimates driver is more accurately inclined to.
In addition, either party record explicitly of the control unit position that the state of the driver deduced in the timing that bio information acquisition unit obtains bio information based on the bio information obtained by bio information acquisition unit, the vehicle driven with driver can be run over and environment.
According to this structure, either party record explicitly of the position that the state of the driver deduced in the timing that bio information acquisition unit obtains bio information based on the bio information obtained by bio information acquisition unit, the vehicle driven with driver run over by control unit and environment.Thereby, it is possible to the state of driver when being travelled under this position or environment by vehicle associates with this position or environment facies.
In this situation, with the condition of state of either party driver set explicitly being predicted to be position that driver institute steering vehicle will travel and environment, the state of the position that will be able to travel based on the vehicle driven with driver and either party driver recorded explicitly of environment sets.
According to this structure, with the condition of state of either party driver set explicitly being predicted to be position that driver institute steering vehicle will travel and environment, the state of the position that will travel based on the vehicle driven with driver and either party driver recorded explicitly of environment sets.Therefore, the state of the driver when condition of the state of driver travels under this position or environment with vehicle is corresponding, can set the condition more meeting reality.
In addition, control unit can perform and either party drive supporting set explicitly being predicted to be position that vehicle that driver drives will travel and environment.
According to this structure, control unit performs and either party drive supporting set explicitly being predicted to be position that vehicle that driver drives will travel and environment.Therefore, it is possible to more meet the drive supporting of position that vehicle will travel or environment.
In addition, control unit can perform following drive supporting: when the state of the driver deduced by driver status presumption unit is lower than the 1st threshold value, driver is reminded to note, when the state of the driver deduced by driver status presumption unit is lower than 2nd threshold value lower than the 1st threshold value, get involved the driver behavior of driver.
According to this structure, control unit performs following drive supporting: when the state of the driver deduced by driver status presumption unit is lower than the 1st threshold value, driver is reminded to note, when the state of the driver deduced by driver status presumption unit is lower than 2nd threshold value lower than the 1st threshold value, get involved the driver behavior of driver.Thereby, it is possible to alleviate the concentration degree etc. needed for driver vehicle.In addition, owing to being the support required for driver, so being sick of of driver can be reduced.
In addition, one embodiment of the present invention is a kind of driving support method, comprising: bio information obtains step, obtains the bio information of driver; Driver status presumption step, based on the bio information being obtained step by bio information and obtain, estimates being obtained the state that step obtains the driver after the timing of bio information by bio information; And rate-determining steps, based on the state of driver deduced by driver status presumption step and with the comparing of condition of state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment, control the drive supporting of vehicle.
In addition, one embodiment of the present invention is a kind of information provider unit, possesses: bio information acquisition unit, and it obtains the bio information of driver; Driver status presumption unit, it is based on the bio information obtained by bio information acquisition unit, estimates the state of the driver after the timing being obtained bio information by bio information acquisition unit; And notification means, its based on estimated by driver status state of driver that unit deduces and with the comparing of condition of state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment, remind the driver of vehicle to note.
According to this structure, bio information acquisition unit obtains the bio information of driver.Driver status presumption unit, based on the bio information obtained by bio information acquisition unit, estimates the state of the driver after the timing being obtained bio information by bio information acquisition unit.Notification means based on estimated by driver status the state of driver that unit deduces and with the comparing of condition of state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment, remind the driver of vehicle to note.Thus, based on the state of the driver in the future obtained according to the actual bio information obtained and the comparison of the condition of the state of driver obtained with the position that future, vehicle will travel and/or environment, current driver is reminded to note.Thus, point out with more can meeting the situation that driver travels under this position and/or environment, the probability making driver feel indisposed sense can be reduced.
In addition, one embodiment of the present invention is a kind of information providing method, comprising: bio information obtains step, obtains the bio information of driver; Driver status presumption step, based on the bio information being obtained step by bio information and obtain, estimates being obtained the state that step obtains the driver after the timing of bio information by bio information; And notification step, based on the state of driver deduced by driver status presumption step and with the comparing of condition of state of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel and environment, remind the driver of vehicle to note.
In addition, one embodiment of the present invention is a kind of guider, possesses: bio information acquisition unit, and it obtains the bio information of driver; Driver status presumption unit, it is based on the bio information obtained by bio information acquisition unit, estimates the state of the driver after the timing being obtained bio information by bio information acquisition unit; And forward march selection unit, its based on estimated by driver status state of driver that unit deduces and with the comparing of the condition of the state of either party driver set explicitly of the position be predicted to be in multiple forward marches that vehicle that driver drives will travel and environment, from multiple forward march, select the forward march that driver is guided.
According to this structure, bio information acquisition unit obtains the bio information of driver.Driver status presumption unit, based on the bio information obtained by bio information acquisition unit, estimates the state of the driver after the timing being obtained bio information by bio information acquisition unit.Forward march selection unit based on estimated by driver status the state of driver that unit deduces and with the comparing of the condition of the state of either party driver set explicitly of the position be predicted to be in multiple forward marches that vehicle that driver drives will travel and environment, from multiple forward march, select the forward march that driver is guided.Thus, based on the state of the driver in the future obtained according to the actual bio information obtained with the comparison of the condition of the state being predicted to be the driver that position in multiple forward marches that in the future vehicle will travel and/or environment are obtained, select the forward march that driver is guided.Thus, the forward march more meeting the situation that driver travels under this position and/or environment can be guided, the probability making driver feel indisposed sense can be reduced.
In addition, one embodiment of the present invention is a kind of air navigation aid, comprising: bio information obtains step, obtains the bio information of driver; Driver status presumption step, based on the bio information being obtained step by bio information and obtain, estimates being obtained the state that step obtains the driver after the timing of bio information by bio information; And forward march selects step, based on the state of driver deduced by driver status presumption step and with the comparing of the condition of the state of either party driver set explicitly of the position be predicted to be in multiple forward marches that vehicle that driver drives will travel and environment, from multiple forward march, select the forward march that driver is guided.
The effect of invention
The drive supporting device of one embodiment of the present invention, driving support method, information provider unit, information providing method, guider and air navigation aid, by more meeting the drive supporting of the travel conditions of vehicle, the indisposed sense of driver can be alleviated.
Accompanying drawing explanation
Fig. 1 is the block diagram of the basic structure of the driving assist system that embodiment is shown.
Fig. 2 is shown specifically the condition estimating system of embodiment and the block diagram of drive supporting device.
Fig. 3 is the figure of the example that the condition estimating system of pie graph 2 and the hardware of drive supporting device are shown.
Fig. 4 is the flow chart of the action of the concentration degree of the presumption driver of the driving assist system that embodiment is shown.
Fig. 5 is the making of the concentrated map of the driving assist system that embodiment is shown and calculates the flow chart of action of the object set moderate on road.
Fig. 6 be the driving assist system that embodiment is shown by the concentrated tendency of driver and the flow chart comparing the action carrying out drive supporting of the threshold value of based target concentration degree.
Fig. 7 be the driving assist system that embodiment is shown by object set moderate and measure the flow chart comparing the action carrying out drive supporting of concentration degree.
Fig. 8 is the chart illustrating that the concentration degree of driver reduces in time.
Fig. 9 is the plane graph at the position that the concentration degree of driver in the place illustrating that vehicle travels raises.
Figure 10 is the chart of the containing ratio variable quantity of the θ ripple of each driver of the pitch of the laps number illustrated relative to place.
Figure 11 is the chart of the containing ratio variable quantity of the θ ripple of the driver of the pitch of the laps number illustrated relative to the place contemplating super expressway.
Figure 12 is the chart that the time dependent concept of cumulative degree of concentration is shown.
Figure 13 is the chart of the measured value of the cumulative degree of concentration that the time suitable relative to the pitch of the laps number with place is shown.
Figure 14 is the figure of the method that the concentrated map making embodiment is shown.
Detailed description of the invention
With reference to accompanying drawing, an example of the drive supporting device of one embodiment of the present invention, information provider unit and guider is described.First, the basic structure of the drive supporting device of present embodiment etc. is described.As shown in Figure 1, as basic structure, the driving assist system 10 of present embodiment possesses bio information test section 11, concentration degree calculating section 12, information of vehicles test section 13, concentrates tendency calculating section 14, intensively figure calculating section 15, state detection unit 16, stimulation prompting part 17 and information presentation portion 18.
Bio information test section 11 obtains the bio information of the object such as driver.Bio information test section 11 estimates the state of the E.E.G of driver etc. according to the bio information beyond E.E.G, estimate the concentration degree of driver thus.Thus, even if do not detect the E.E.G comparing and be difficult to detect, the concentration degree of driver can also be estimated.In addition, also to improve for the purpose of presumption precision, E.E.G self can be measured in order to the calibration of the presumption based on other indexs.In this case, the E.E.G more than one position measurement driver is needed.
The heart beating needed for concentration degree, pulse etc. that bio information test section 11 obtains presumption driver represent the bio information that heart beating is dynamic.The adquisitiones of bio information both can be contact also can be contactless.Bio information test section 11 is formed by the checkout gear, piezoelectric element, acceleration transducer etc. of the physiologic index of the seat and/or steering wheel that are arranged at vehicle.Bio information test section 11 also can utilize the other biological information such as breathing, nictation to estimate the concentration degree of driver.The checkout gear of heart beating, these bio informations of pulse can be the device that the device and/or carry out according to the transmission amount of light or volume reflection of the potential difference of measurement health measures.
In addition, as described later, bio information test section 11 is formed by the heartbeat sensor etc. also taken with oneself when driver does not take vehicle.Like this, in the present embodiment, by not using the speed, acceleration etc. of vehicle in the presumption of the concentration degree of driver, the concentration degree of driver can independently be estimated with the noise of environment.In addition, do not take driver the heartbeat sensor etc. that vehicle body also takes with oneself by being set to by bio information test section 11, bio information test section 11 does not rely on vehicle, therefore, the state of the driver before taking vehicle can be observed, and be reflected in the presumption of concentration degree.
Concentration degree calculating section 12 calculates the characteristic quantity needed for presumption of the such as θ ripple containing ratio of the state of the E.E.G as driver according to the bio information obtained from bio information test section 11, and estimates the concentration degree of driver.As according to the characteristic quantity obtained of pulsing, when heart beating, the interval of the feature sharp wave being referred to as R ripple can be used.As according to the characteristic quantity obtained of pulsing, when pulse, the interval of peak value can be used.According to the quantity of the time per unit at these intervals, the heart rate of driver can be calculated.By by 60 seconds intervals divided by 1 waveform, instantaneous heart rate can be calculated.
Concentration degree calculating section 12 also can about the dispersion of heart beating fluctuation use pulsation intervals, standard deviation, coefficient of alteration.In addition, concentration degree calculating section 12 also can carry out frequency transformation to calculate undulate quantity to the pulsation intervals of time per unit.Concentration degree calculating section 12 can calculate about the β ripple of E.E.G, α ripple, θ ripple, δ ripple, σ ripple and the power spectrum of frequency band and characteristics of EEG amount arbitrarily about E.E.G.
Information of vehicles test section 13 obtains the information relevant with longitude with the latitude of vehicle to associating of concentration degree from GPS (GlobalPositioningSystem: global positioning system) in order to cartographic information.In addition, the cartographic information that information of vehicles test section 13 is corresponding according to the latitude and longitude with vehicle, the curvature, the road that obtain the road that vehicle travels are wide, the cartographic information such as the gradient, maximum speed limit, volume of traffic.Information of vehicles test section 13 can obtain the signal relevant to the state of the vehicles such as the braking amount of vehicle, accelerator opening, steering angle from CAN (ControllerAreaNetwork).
Tendency calculating section 14 is concentrated to calculate concentration degree passing in time according to the θ ripple containing ratio obtained by concentration degree calculating section 12.Tendency calculating section 14 is concentrated to calculate the decay tendency of the concentration degree of driver according to the passing in time of θ ripple containing ratio.Thus, in the present embodiment, by learning the reduction tendency of the concentration degree of driver, can driver become be not suitable for driving before driver reported and carry out drive supporting.
As described later, tendency calculating section 14 is concentrated to measure concentration degree cumulative number in time.Tendency calculating section 14 is concentrated to reach the time till arbitrary threshold value according to the cumulative number of concentration degree, by the passing of concentration degree formulism.Concentrate tendency calculating section 14 by presumption until the cumulative number of concentration degree saturated time, concentration degree passing in time can be estimated accurately.In addition, tendency calculating section 14 is concentrated can to estimate concentration degree passing in time adaptably with each driver.Like this, in the present embodiment, even if when reduction tendency every day of the concentration degree of driver is all different, also by the cumulative number of the concentration degree of each driver, do not measure the passing of concentration degree with relying on the absolute value of easily variation.
Intensively wide to the curvature of the θ ripple containing ratio obtained by concentration degree calculating section 12 and the road that obtained by information of vehicles test section 13, road, the cartographic information such as the gradient, maximum speed limit, volume of traffic are preserved by figure calculating section 15 in the lump.In the present embodiment, the change of the concentration degree of the driver under the situation of the road that vehicle actual travel is crossed can be grasped.On the other hand, in the present embodiment, the concentration degree of the driver under the similar situation of the situation of the road crossed with vehicle actual travel can be estimated.Thus, by the concentration degree of driver and the data obtained according to GPS and cartographic information are compared, even the road of the unknown, also can estimate driver and drive required concentration degree on this road.
State detection unit 16 determines whether to need to driver's notification or the need of intervention driver behavior according to the change of the concentration degree calculated by concentrated tendency calculating section 14.
Stimulating prompting part 17 when being judged to be that by state detection unit 16 concentration degree of driver exceedes the situation of certain threshold value and/or is judged to be that by state detection unit 16 variable quantity of concentration degree of driver has exceeded certain threshold value, implementing the stimulation prompting of concentration degree for maintaining or improve driver.Stimulate prompting part 17 also can have the mapping recording the stimulation reminding method be associated with various situation to determine to stimulate reminding method.Stimulate prompting part 17 also can use physical stimulation.The prompting part 17 stimulated such as can make to use up, sound, vibration, warm, cold wind, abnormal smells from the patient and image.
Information display section 18 points out the presumption result of the concentration degree of driver to driver.In addition, information display section 18 implements the drive supporting of driver according to the concentration degree of driver.Information display section 18 such as can implement successively according to the reduction of the concentration degree of driver to maintain the drive supporting in track, the drive supporting maintaining the speed of a motor vehicle and vehicle headway, collision free and alleviate the drive supporting of impaction lesion, the forward march of guided vehicle drive supporting and make the drive supporting of vehicle avoiding obstacles.
In the present embodiment, got involved the drive supporting of the driver behavior of driver by the drive supporting etc. carrying out maintaining the speed of a motor vehicle and vehicle headway, the concentration degree needed for driving can be reduced, even if driver also can drive with low concentration degree.In addition, owing to being the drive supporting required for driver's reality, so being sick of of can reducing that drive supporting brings.
Below, the hardware configuration of the reality of the driving assist system of present embodiment is described.As shown in Figure 2, in condition estimating system 100, the information of vehicles test section 110 corresponding with the information of vehicles test section 13 of Fig. 1 and characteristic quantity calculating section 112 are configured to the device being equipped on vehicle.
Car-mounted device 115 has characteristic quantity calculating section 112 and the intensively figure calculating section 114 corresponding with the intensively figure calculating section 15 of Fig. 1.Intensively figure calculating section 114 communicates with the server 175 outside vehicle via network 170.In server 175, preserve the concentrated map that the position of each travelled road, shape, environment are associated with concentration degree now and are obtained about each driver.
In addition, corresponding with the stimulation prompting part 17 of Fig. 1 and information presentation portion 18 display device 210 and assisting system 220 are mounted in the driving line apparatus 200 of vehicle.Display device 210 is such as the display etc. of navigation system.As shown in Figure 3, explicitly Figure 21 2 in display device 210, and show concentration power 214 in the mode of chart.Like this, display device 210 can show the information relevant to the concentration degree of driver to driver, the forward march of vehicle can be guided to specific direction for driver.Assisting system 200 pairs of steering wheels, accelerator pedal and brake pedals apply predetermined counter-force or vibrate the driver behavior guiding driver.Assisting system 220 does not control the steering angle of vehicle, accelerator opening and braking amount with can relying on the driver behavior of driver yet.
On the other hand, about brain-wave sensor 121, the heartbeat sensor 122 and pupil sensor 123 etc. of the bio information test section 120 corresponding with the bio information test section 11 of Fig. 1, such as shown in Figure 3, the heartbeat sensor 122 etc. that driver also wears when not taking vehicle can be set to.Heartbeat sensor 122 is such as measured the heart beating of driver by the disposable electrode of the chest by being installed on driver and is formed by the wireless EGC sensor of wireless transmission measurement result.
In addition, the characteristics of EEG amount calculating section 131 of corresponding with the concentration degree calculating section 12 of Fig. 1 Fig. 2, heart beating characteristic quantity calculating section 132, pupil feature amount calculating section 133 and concentration degree calculating section 140 can be stored in the portable terminal device 130 that driver holds as depicted in figs. 2 and 3.In addition, the concentrated change calculating section 152 of the concentrated tendency calculating section 150 of corresponding with the concentrated tendency calculating section 14 of Fig. 1 Fig. 2 and time constant calculating section 154 also can be stored in the portable terminal device 130 that driver holds as depicted in figs. 2 and 3.And then the state detection unit 160 of Fig. 2 corresponding with the state detection unit 16 of Fig. 1 also can be stored in the portable terminal device 130 that driver holds as depicted in figs. 2 and 3.
In the present embodiment, even if the position of the tendency of the concentration degree of such presumption driver is stored in the portable terminal device that driver also holds at vehicle outward, therefore, the concentration degree of driver can be estimated based on the data obtained with different conditions within the longer time, the presumption precision of concentration degree can be improved.When driver does not take vehicle, also heartbeat sensor 122 etc. can be assemblied in health and utilize each formation in portable terminal device 130 to estimate the concentration degree of driver.On the other hand, when driver has taken vehicle, by wired or wireless, portable terminal device 130 can be connected with the car-mounted device 115 in vehicle and/or drive supporting device 200, accept drive supporting described later.
In addition, display device 210 is not limited to vehicle-mounted display, and the display of the portable terminal device 130 that also driver can be carried is as the display device 210 of present embodiment.In this case, also can using the display device 210 of the display of portable terminal device 130 as present embodiment when driver takes vehicle.
Below, the condition estimating system 100 of present embodiment and the action of drive supporting device 200 are described.In the following examples, to be estimated the θ ripple of the E.E.G of driver by the heart beating of driver, thus be described centered by the form of the concentration degree of presumption driver.Known, when people concentrates, the such feature E.E.G being referred to as Fm θ of θ ripple can be produced at frontal lobe.In technology in the past, exist the quantity of state according to vehicle, environmental information, driver watch the technology that situation etc. carries out the presumption of the concentration degree of driver attentively.In these techniques, the environmental error of the deviation of the steering caused by rut etc. can be produced.But, in the present embodiment, by internal information and the bio information of end user, the concentration degree of people can be estimated uninterruptedly.
As shown in Figure 4, when driver takes vehicle and when not taking vehicle, the heartbeat sensor 122 that driver wears measures the bio informations (S101) such as the heart beating of driver.
The heart beating characteristic quantity calculating section 130 receiving the portable terminal device 130 of the heart beating of driver from heartbeat sensor 122 calculates θ ripple containing ratio as characteristic quantity (S102) according to the interval of R ripple and/or fluctuation the data relevant with heart beating.θ ripple containing ratio is calculated by θ ripple containing ratio=θ wave power/(α wave power+β wave power+θ wave power) this formula.Concentration degree calculating section 140 in portable terminal device 130 calculates the concentration degree (S103) of driver according to θ ripple containing ratio.In addition, in the present embodiment, in order to calibration, also can actual utilize frequency resolution to extract the θ ripple (S104) of driver by brain-wave sensor 121, be calculated the concentration degree (S105) of driver by the θ ripple obtained.
Before the arbitrary time (S106), the concentrated change calculating section 152 of tendency calculating section 150 is concentrated temporarily to be stored in the concentration degree (S107) of the driver that each moment obtains.When have passed through the arbitrary time (S106), concentrate change calculating section 152 to extract its flip-flop or low-frequency component according to the timing variations of the concentration degree comprising θ ripple containing ratio, calculate reduction tendency (S108) of the concentration degree of driver thus.
As shown in Figure 8, assuming that in usual one day of driver, do not needing between the operation of concentration degree and action, there is the events such as sleep, the driving of vehicle and the operation that utilizes personal computer to carry out.In the driving of vehicle, on the same road, as shown in the straight line of Fig. 8, the concentration degree of driver linearly reduces.On the other hand, at the moment tc1 ~ tc4 of vehicle by bend, the concentration degree of driver temporarily rises.But the concentration degree of driver is passed through in time and reduces.At this, shown in dotted line, if having a rest moment tx driver, then concentration degree reduces.In traveling afterwards, the concentration degree that concentration degree reverts to than having proceeded when driving is high.Therefore, can thinking, by urging driver to carry out suitable rest, the concentration degree of driver can be kept.
As shown in Figure 9, at vehicle 300 on place 400 when pitch of the laps, from figure, stain is known, and before being about to come bend, concentration degree raises.As can be seen from Figure 10, although there is deviation about the θ ripple containing ratio of each time of 5 drivers, all similarly reduce.As can be seen from Figure 11, the change of the concentration degree of every 10 minutes during imagination super expressway is also same.
Therefore, change calculating section 152 is concentrated by measurement until the time of arbitrary concentration degree, the reduction tendency of the concentration degree of driver can be estimated.Or, concentrate change calculating section 152 can carry out the reduction tendency of forecast set moderate according to the flip-flop of arbitrary interval concentration degree.Concentrate change calculating section 152 can predict the reduction tendency of the concentration degree that driver is intrinsic according to the flip-flop of concentration degree.In addition, the reduction tendency of the concentration degree caused by health can predicting the same day of driver according to the flip-flop of concentration degree.In addition, change calculating section 152 is concentrated can to predict according to the reduction tendency of concentration degree the time being reduced to arbitrary threshold value.
Specifically, concentrate change calculating section 152 from the measurement starting to drive or by carrying out concentration degree the entrance of super expressway.Concentrated change calculating section 152 calculates the average concentration from measurement till 5 minutes.Concentrate change calculating section 152 can calculate average concentration every 5 minutes or 10 minutes afterwards, and calculate the attenuation ratio of concentration degree according to its residual quantity.
Concentrate change calculating section 152 according to initial concentration degree, utilize expression of first degree calculate θ ripple containing ratio arrive arbitrary threshold value, such as statistical value 0.54 till time.As described later, display device 210, before θ ripple containing ratio arrives 15 minutes of the time of arbitrary threshold value, reports the reduction of the concentration degree of driving to driver.In addition, concentrate change calculating section 152 can accumulate the long-term data of each driver, calculate the curve of the reduction tendency of the expression concentration degree beyond straight line or straight line according to the least square of data.
In addition, in the present embodiment, the time constant calculating section 154 of tendency calculating section 150 is concentrated can to calculate the fatigue strength of driver until the accumulation degree of concentration degree of driver saturated time according to the accumulation degree time reached till arbitrary threshold value of concentration degree.As shown in Figure 12 and Figure 13, the concentration degree of driver cumulant is in time saturated after a certain time as the time lag of first order.Thus, time constant calculating section 154 can calculate time constant according to the cumulant of concentration degree.Time constant calculating section 154 can calculate according to time constant time gauge, the fatigue strength that driver can concentrate.
Time constant calculating section 154 is from the measurement starting to drive or by carrying out concentration degree the entrance of super expressway.Time constant calculating section 154 is classified with arbitrary threshold value, such as 0.65 pair θ ripple containing ratio.The situation that θ ripple containing ratio is more than threshold value by time constant calculating section 154 is defined as 1, and θ ripple containing ratio is defined as 0 lower than the situation of threshold value, and time per unit obtains cumulative degree of concentration.
The cumulative degree of concentration that time constant calculating section 154 measures driver reaches time during arbitrary value, and the time according to measuring calculates time constant.Time constant calculating section 154 calculates according to time constant until cumulative degree of concentration saturated time.Time constant calculating section 154 can when the aggregate value of cumulative degree of concentration be reduced to be less than 1, calculate time constant according to the time hereto, and calculate until cumulative degree of concentration saturated time.
In the present embodiment, in order to obtain time constant, carry out the accumulation of two-value differentiation, therefore, it is possible to do not calculate with relying on the precision of data until the cumulant of concentration degree saturated time.
As shown in Figure 5, when driver takes vehicle and vehicle launch (S109), information of vehicles test section 110 and characteristic quantity calculating section 112 obtain the road of vehicle current driving from GPS, navigation system, CAN or are predicted to be (S110, S111) such as positional information, time, the speed of a motor vehicle, accelerator opening, brake signal, yaw-rate, steering angles such as the latitude of the road that vehicle will travel in the future and longitudes.Now, as mentioned above, in concentration degree calculating section 140, the θ ripple containing ratio according to driver calculates concentration degree.Intensively figure calculating section 114 calculates the concentrated map (S112, S113) of the information such as the positional information of vehicle, the speed of a motor vehicle and concentration degree being recorded explicitly.So, the multivariable environmental information relevant to road can not relied on and make concentrated map simply.In addition, easy grasp place and time are on the impact of concentration degree.In this case, also can the curvature of the road that records in the map datum of navigation system, road is wide, the gradient, maximum speed limit and the volume of traffic etc. and concentration degree record explicitly.
Intensively figure calculating section 140 upgrades the concentrated map (S113, S114) being stored in server 175 via network 170.The datum mark with reference coordinate has been prepared by certain interval in the map datum of navigation system.When accumulating to (S115) during a certain amount of learning data, intensively figure calculating section 140 is based on these data, when the data relevant with longitude to the latitude near datum mark exceeded arbitrary number, such as 50 obtain the meansigma methods of data to carry out the renewal (S116) of concentrated map.
Such as, the renewal carrying out concentrated map when collecting 5 data is supposed.As shown in figure 14, in reference coordinate, suppose in certain distance, obtain 5 data relevant to concentration degree represented with the point of black.In this case, intensively figure calculating section 140 calculates the meansigma methods of the concentration degree of 5 points, it can be used as the concentration degree of this reference coordinate and upgrades.Equally, intensively figure calculating section 140 carries out the renewal of concentrated map again when the data of reference coordinate periphery often increase by 50,100,150.
State detection unit 160, in the same or similar situations such as the shape of the road recorded in the shape, the gradient, curvature, maximum speed limit, the volume of traffic etc. that make a reservation for the road travelled at the road of vehicle current driving or vehicle and concentrated map (S118), calculate target tightening degree C with reference to intensively figure *(S119).Object set moderate C *the concentration degree of identical with the concentration degree of each reference coordinate be recorded in concentrated map or higher than it predetermined margin can be set to.Thus, even the road that vehicle travels for the first time, also object set moderate C can be calculated *.
As shown in Figure 6, state detection unit 160 is with reference to the object set moderate C calculated according to intensively figure *, set arbitrary threshold value (S120).This arbitrary threshold value can be and object set moderate C *identical value also can be than object set moderate C *the value of high predetermined value can also be than object set moderate C *the value of low predetermined value.Arbitrary threshold value in this situation be set to than be predicted to be driver in the road that vehicle will travel drive needed for the value of lower limit for height of concentration degree.
Concentration degree in the future being predicted to be concentration degree required in the road that vehicle will travel and driver compares by state detection unit 160.In the concentration degree of the driver deduced in concentrated tendency calculating section 150 reduction tendency in time, state detection unit 160 judges whether the concentration degree of driver after the arbitrary time can lower than arbitrary threshold value (S121).Such as, the concentration degree of driver can lower than (S121) when arbitrary threshold value over the course of 15 mins, display device 210 utilizes image or voice to remind the reduction of driver's degree of focusing on, and be presented at nearest service area, path that parking area carries out having a rest, can for the guiding of the facility of having a rest and can for the advertisement (S122) of the information in the shop in the facility of having a rest and/or commodity etc.
In the concentration degree of the driver deduced in concentrated tendency calculating section 150 reduction tendency in time, whether the concentration degree that state detection unit 160 judges driver after the arbitrary time can lower than the threshold value (S123) of the lower limit as the concentration degree needed for driving.As mentioned above, the threshold value of lower limit as the concentration degree needed for driving in this situation also can be set to the accumulation degree of the concentration degree of driver saturated time concentration degree.In addition, this arbitrary time be set to driver can time of limit of safe driving vehicle.
After the arbitrary time, the concentration degree of driver can lower than (S123) when the threshold value of lower limit as the concentration degree needed for driving, assisting system 220 does not enter the drive supporting that fleet vehicles carries out constant-speed traveling and follows traveling with first relying on the driver behavior of driver, reduces the load (S124) of the driver controlled for the speed of a motor vehicle.When still not observing the rising of concentration degree after predetermined time (S101 ~ S123), assisting system 220 does not carry out the drive supporting maintaining the track that vehicle travels with relying on the driver behavior of driver, during this period, display device 210 urges driver to carry out have a rest (S124) at service area or parking area.When the change of driver behavior still not observing driver after predetermined time, assisting system 220 also forcibly can get involved the driver behavior of driver, guides the forward march method of vehicle.In addition, before vehicle arrives the place can had a rest for driver likely with bar contact, assisting system 220 can carry out the drive supporting for avoiding the infringement contacting or alleviate contact.The contact that the contact realized for avoiding the drive supporting of the infringement contacting or alleviate contact to comprise the brake operating by getting involved driver is avoided, realized by the steering operation of intervention driver is avoided.In addition, display device 210 by reminding driver's attention deficit disorder thing, can carry out the drive supporting for avoiding the infringement contacting or alleviate contact.Or as required, assisting system 220 can carry out the drive supporting of the driving stability for making vehicle.
The position that display device 210 and assisting system 220 will be able to travel according to vehicle and/or environment decide the content of drive supporting.Such as, when vehicle travels on bend, assisting system 220 does not carry out the drive supporting maintaining the track that vehicle travels with can relying on the driver behavior of driver.Such as, when vehicle travels in the corner with dead angle, display device 210 can show this dead angle.In addition, when display device 210 couples of drivers carry out drive supporting, the display of the display can carrying out the shooting image of vehicle periphery in the lump and the either direction of urging driver certifying vehicle periphery.
In addition, the action of above-mentioned S101 ~ S108 and S120 ~ S124, even if when driver does not take vehicle, the form that also whether can be in the concentration degree showing driver on portable terminal device 130 state being enough to steering vehicle is carried out.
The current concentration degree of concentration degree required on the road of vehicle current driving and driver compares by state detection unit 160.As shown in Figure 7, state detection unit 160 is by the concentration degree C of the driver of current mensuration that calculated by concentration degree calculating section 140 and object set moderate C required on the road of vehicle current driving as above *compare (S125).
At the concentration degree C determined than object set moderate C *time high (S125), display device 210 is not carried out showing (S126).At the concentration degree C determined and object set moderate C *during for identical value, display device 210 both can carry out the such display of above-mentioned S122, also can not carry out showing (S127, S129).At the concentration degree C determined than object set moderate C *time low (S125), display device 210 and assisting system 220 carry out the such display of above-mentioned S122 and S124 and drive supporting (S128 ~ S130).The action of above S109 ~ S130 is continued until that the driving of vehicle terminates (S131).
According to the present embodiment, heartbeat sensor 122 obtains the heart beating of driver.Concentration degree calculating section 140, based on the heart beating obtained by heartbeat sensor 122, estimates the concentration degree being obtained the driver after the timing of heart beating by heartbeat sensor 122.State detection unit 160 based on the driver deduced by concentration degree calculating section 140 concentration degree and with the comparing of object set moderate being predicted to be position that vehicle that driver drives will travel or the driver that environment facies associatedly set, control the drive supporting of vehicle.Thus, based on the concentration degree of the driver in the future obtained according to the actual heart beating obtained and the comparison of the object set moderate of driver obtained with the position that future, vehicle will travel and/or environment, the control of current drive supporting is carried out.Thus, the drive supporting being more suitable for the situation that driver travels under this position and/or environment can be carried out, the probability making driver feel indisposed sense can be alleviated.
The concentration degree of the driver deduced by concentration degree calculating section 140 does not meet with the degree of the object set moderate being predicted to be position that vehicle that driver drives will travel or the driver that environment facies associatedly set larger, then state detection unit 160 more promotes drive supporting.Thus, for the situation that driver travels under this position and/or environment, the concentration degree of driver is lower, then more promote drive supporting.Thus, more can meet the concentration degree of driver and/or the drive supporting of the condition corresponding with position or environment, the probability making driver feel indisposed sense can be reduced.In addition, " promotion drive supporting " in present embodiment is not limited to above-mentioned by starting the situation that drive supporting promotes, comprises barrier for the object becoming drive supporting by expanding detection range, improving the situation that accuracy of detection etc. makes easily to detect barrier.In addition, " promotion drive supporting " in present embodiment comprises by reducing the situation relaxing the condition starting drive supporting for the threshold value starting drive supporting.In addition, " promotion drive supporting " in present embodiment comprises the situation that the timing of beginning drive supporting is shifted to an earlier date.In addition, " promotion drive supporting " in present embodiment comprises the situation by the degree of drive supporting being carried out from the driving that the prompting being only information rises to alarm, get involved driver promoting.
State detection unit 160, do not meet with when being predicted to be the object set moderate of the driver that the ground of the position travelled or environmental correclation will set by vehicle that driver drives in the concentration degree of the driver deduced by concentration degree calculating section 140, beginning drive supporting.Thus, for the condition that the concentration degree and/or position or environment with driver is corresponding, carry out drive supporting when needed, the probability making driver feel indisposed sense can be reduced.
Concentrate the concentrated change calculating section 152 of tendency calculating section 150 based on the heart beating obtained by heartbeat sensor 122, estimate the concentration degree reduction tendency in time of driver.Thereby, it is possible to estimate the concentration degree of driver when vehicle reality travels under this position and/or environment more accurately, the drive supporting of the concentration degree of driver more can be met.
Concentrate the time constant calculating section 154 of tendency calculating section 150 based on the heart beating obtained by heartbeat sensor 122, estimate until the concentration degree accumulation degree in time of driver saturated time, based on until accumulation degree saturated time, estimate the concentration degree reduction tendency in time of driver.Until the concentration degree of driver accumulation degree in time saturated time is difficult to the impact of the deviation of the temporary transient concentration degree being subject to driver.Therefore, by presumption until the concentration degree accumulation degree in time of driver saturated time, the concentration degree reduction in time that independently can estimate driver more accurately with the deviation of the temporary transient concentration degree of driver is inclined to.
State detection unit 160 based on the heart beating obtained by heartbeat sensor 122, the position that the vehicle concentration degree of the driver deduced in the timing obtaining bio information by heartbeat sensor 122 and driver driven will travel or environment facies associatedly record.Thereby, it is possible to the concentration degree of driver when being travelled under this position or environment by vehicle associates with this position or environment facies.
With the object set moderate of either party driver set explicitly being predicted to be position that vehicle that driver drives will travel or environment, the concentration degree of the driver that the position that will travel based on the vehicle driven with driver or environment facies associatedly record sets.Therefore, the concentration degree of the driver when object set moderate of driver travels under this position or environment with vehicle is corresponding, can set the condition more meeting reality.
Display device 210 and assisting system 220 perform and are predicted to be position that vehicle that driver drives will travel or the drive supporting that environment facies associatedly set.Therefore, it is possible to more meet the position of vehicle traveling or the drive supporting of environment.
Display device 210, when the state of the driver deduced by concentration degree calculating section 140 is lower than arbitrary threshold value, reminds driver to note.Assisting system 220 is prescribed a time limit lower than the lower of the concentration degree lower than arbitrary threshold value in the state of the driver deduced by concentration degree calculating section 140, performs the drive supporting of the driver behavior getting involved driver.Thereby, it is possible to alleviate the concentration degree needed for driver vehicle.In addition, owing to being the support required for driver, so being sick of of driver can be reduced.
Heartbeat sensor 122 obtains the heart beating of driver.Concentration degree calculating section 140, based on the heart beating obtained by heartbeat sensor 122, estimates the concentration degree that heartbeat sensor 122 obtains the driver after the timing of heart beating.Display device 210 is compared based on the concentration degree of the driver deduced by concentration degree calculating section 140 and the object set moderate of driver that associatedly sets with the position be predicted to be in multiple forward marches that vehicle that driver drives will travel or environment facies, selects the forward march guided to driver from multiple forward march.Thus, based on comparing of the concentration degree of the driver in the future obtained according to the actual heart beating obtained and the object set moderate to be predicted to be the driver that position in multiple forward marches that in the future vehicle will travel and/or environment are obtained, select the forward march guided to driver.Thus, the forward march more meeting the situation that driver travels under this position and/or environment can be guided, the probability making driver feel indisposed sense can be reduced.
The invention is not restricted to above-mentioned embodiment, various deformation form can be had.The interval that concentration degree calculates is not limited to 5 minutes or 10 minutes, can be the arbitrary time.The flip-flop that concentration degree calculates also can be represented by the nonlinear function of exponential function etc.In addition, in the above-described embodiment, be illustrated centered by the example information provider unit of present embodiment being applied to vehicle.But, in the present embodiment, such as, display device 210 can be set to the display of personal computer.In this case, as mentioned above, in the operation utilizing personal computer to carry out, display is the display set moderate 214 when the concentration degree of object reduces only, to the reduction of object notice concentration degree.When concentration degree is lower than predetermined threshold value, display can to object show utilize display to carry out operation beyond operation or the suggestion etc. of additional few monotonous work.
In addition, the drive supporting to driver undertaken by drive supporting device 200 is not limited to the form of state to the state transfer of the drive supportings such as the notification of carrying out alarm of the drive supportings such as the notification of never carrying out alarm completely.Present embodiment comprises from the state of the drive supportings such as the notification of carrying out alarm to the form that the state of the different drive supporting of the driving intervention etc. carrying out driver switches.In addition, the present embodiment state that comprises the drive supportings such as the notification of carrying out alarm is to the form of state transfer of also carrying out the different drive supporting such as driving intervention of driver except alarm etc.
Utilizability in industry
Drive supporting device according to an embodiment of the present invention, driving support method, information provider unit, information providing method, guider and air navigation aid, by more meeting the drive supporting of the travel conditions of vehicle, the indisposed sense of driver can be alleviated.
The explanation of label
10 driving assist systems
11 bio information test sections
12 concentration degree calculating sections
13 information of vehicles test sections
14 concentrate tendency calculating section
15 intensively figure calculating sections
16 state detection units
17 stimulate prompting part
18 information presentation portion
100 condition estimating systems
110 information of vehicles test sections
112 characteristic quantity calculating sections
114 intensively figure calculating sections
115 car-mounted devices
120 bio information test sections
121 brain-wave sensor
122 heartbeat sensors
123 pupil sensors
130 portable terminal devices
131 characteristics of EEG amount calculating sections
132 heart beating characteristic quantity calculating sections
133 pupil feature amount calculating sections
140 concentration degree calculating sections
150 concentrate tendency calculating section
152 concentrate change calculating section
154 time constant calculating sections
160 condition estimating portions
170 networks
175 servers
200 drive supporting devices
210 display devices
212 maps
214 concentration powers
300 vehicles
400 places

Claims (16)

1. a drive supporting device, possesses:
Bio information acquisition unit, it obtains the bio information of driver;
Driver status presumption unit, it estimates based on the described bio information obtained by described bio information acquisition unit the state obtaining the described driver after the timing of described bio information in described bio information acquisition unit; And
Control unit, its based on estimated by described driver status the described driver that unit deduces described state and with the comparing of condition of described state of either party described driver set explicitly being predicted to be position that vehicle that described driver drives will travel and environment, control the drive supporting of described vehicle.
2. drive supporting device according to claim 1,
The described state estimating the described driver that unit deduces by described driver status does not meet with the degree of the described condition of the described state of either party the described driver set explicitly being predicted to be described position that described vehicle that described driver drives will travel and described environment larger, then described control unit more promotes described drive supporting.
3. drive supporting device according to claim 1 and 2,
Described control unit, when the described state being estimated the described driver that unit deduces by described driver status does not meet the described condition with the described state of either party the described driver set explicitly being predicted to be described position that described vehicle that described driver drives will travel and described environment, carry out controlling to make to start described drive supporting.
4. the drive supporting device according to any one of claims 1 to 3,
The described state of described driver is the concentration degree of described driver.
5. drive supporting device according to claim 4,
Described driver status presumption unit, based on the described bio information obtained by described bio information acquisition unit, estimates the described concentration degree reduction tendency in time of described driver.
6. drive supporting device according to claim 5,
Described driver status presumption unit, based on the described bio information obtained by described bio information acquisition unit, estimates the described concentration degree accumulation degree in time of described driver, estimates the described concentration degree reduction tendency in time of described driver thus.
7. drive supporting device according to claim 6,
Described driver status presumption unit, based on the described bio information obtained by described bio information acquisition unit, presumption until the described concentration degree described accumulation degree in time of described driver saturated time, based on until described accumulation degree saturated time estimate the described concentration degree reduction tendency in time of described driver.
8. the drive supporting device according to any one of claim 1 ~ 7,
Described control unit, either party record explicitly of the described position that the described state of the described driver deduced in the timing that described bio information acquisition unit obtains described bio information based on the described bio information obtained by described bio information acquisition unit, the described vehicle driven with described driver are run over and described environment.
9. drive supporting device according to claim 8,
With the described condition of described state of either party described driver set explicitly being predicted to be described position that described vehicle that described driver drives will travel and described environment, the described state of the described position that will travel based on the described vehicle driven with described driver and either party described driver recorded explicitly of described environment sets.
10. the drive supporting device according to any one of claim 1 ~ 9,
Described control unit, performs and either party the described drive supporting set explicitly being predicted to be described position that described vehicle that described driver drives will travel and described environment.
11. drive supporting devices according to any one of claim 1 ~ 10,
Described control unit, perform following described drive supporting: when the described state of the described driver deduced by described driver status presumption unit is lower than the 1st threshold value, described driver is reminded to note, when the described state of the described driver deduced by described driver status presumption unit is lower than 2nd threshold value lower than described 1st threshold value, get involved the driver behavior of described driver.
12. 1 kinds of driving support methods, comprising:
Bio information obtains step, obtains the bio information of driver;
Driver status presumption step, based on the described bio information being obtained step by described bio information and obtain, estimates being obtained the state that step obtains the described driver after the timing of described bio information by described bio information; And
Rate-determining steps, based on the described driver deduced by described driver status presumption step described state and with the comparing of condition of described state of either party described driver set explicitly being predicted to be position that vehicle that described driver drives will travel and environment, control the drive supporting of described vehicle.
13. 1 kinds of information provider units, possess:
Bio information acquisition unit, it obtains the bio information of driver;
Driver status presumption unit, it is based on the described bio information obtained by described bio information acquisition unit, estimates in the state being obtained the described driver after the timing of described bio information by described bio information acquisition unit; And
Notification means, its based on estimated by described driver status the described driver that unit deduces described state and with the comparing of condition of described state of either party described driver set explicitly being predicted to be position that vehicle that described driver drives will travel and environment, remind the driver of described vehicle to note.
14. 1 kinds of information providing method, comprising:
Bio information obtains step, obtains the bio information of driver;
Driver status presumption step, based on the described bio information being obtained step by described bio information and obtain, estimates being obtained the state that step obtains the described driver after the timing of described bio information by described bio information; And
Notification step, based on the described driver deduced by described driver status presumption step described state and with the comparing of condition of described state of either party described driver set explicitly being predicted to be position that vehicle that described driver drives will travel and environment, remind the driver of described vehicle to note.
15. 1 kinds of guiders, possess:
Bio information acquisition unit, it obtains the bio information of driver;
Driver status presumption unit, it is based on the described bio information obtained by described bio information acquisition unit, estimates in the state being obtained the described driver after the timing of described bio information by described bio information acquisition unit; And
Forward march selection unit, its based on estimated by described driver status the described driver that unit deduces described state and with the comparing of the condition of the described state of either party described driver set explicitly of the position be predicted to be in multiple forward marches that vehicle that described driver drives will travel and environment, from multiple described forward march, select the described forward march that described driver is guided.
16. 1 kinds of air navigation aids, comprising:
Bio information obtains step, obtains the bio information of driver;
Driver status presumption step, based on the described bio information being obtained step by described bio information and obtain, estimates being obtained the state that step obtains the described driver after the timing of described bio information by described bio information; And
Forward march selects step, based on the described driver deduced by described driver status presumption step described state and with the comparing of the condition of the described state of either party described driver set explicitly of the position be predicted to be in multiple forward marches that vehicle that described driver drives will travel and environment, from multiple described forward march, select the described forward march that described driver is guided.
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